Learning Generalizable Hand-Object Tracking from Synthetic Demonstrations

Abstract

We present a system for learning generalizable hand-object tracking controllers purely from synthetic data, without requiring any human demonstrations. Our approach makes two key contributions: (1) HOP, a Hand-Object Planner, which can synthesize diverse hand-object trajectories; and (2) HOT, a Hand-Object Tracker that bridges synthetic-to-physical transfer through reinforcement learning and interaction imitation learning, delivering a generalizable controller conditioned on target hand-object states. Our method extends to diverse object shapes and hand morphologies. Through extensive evaluations, we show that our approach enables dexterous hands to track challenging, long-horizon sequences including object re-arrangement and agile in-hand reorientation. These results represent a significant step toward scalable foundation controllers for manipulation that can learn entirely from synthetic data, breaking the data bottleneck that has long constrained progress in dexterous manipulation.